# Configuration file for the Sphinx documentation builder.
#
# This file does only contain a selection of the most common options.
# For a full list, refer to: http://www.sphinx-doc.org/en/master/config


from lxml import etree
import os
import subprocess
import sys
from pathlib import Path

DIR = Path(__file__).parent.resolve()

# If extensions (or modules to document with autodoc) are in another directory,
# add these directories to sys.path here. If the directory is relative to the
# documentation root, use os.path.abspath to make it absolute, like shown here.
# sys.path.insert(0, os.path.abspath('.'))

# -- General configuration ------------------------------------------------

# If your documentation needs a minimal Sphinx version, state it here.
# needs_sphinx = '1.0'

# Add any Sphinx extension module names here, as strings. They can be
# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
# ones.
extensions = [
    "sphinx_copybutton",
    "sphinx.ext.autodoc",
    "sphinx.ext.autosummary",
    "sphinx.ext.intersphinx",
    "sphinx.ext.napoleon",
    "sphinx.ext.extlinks",
]

autosummary_generate = True
autoclass_content = "both"  # Add __init__ doc (ie. params) to class summaries
html_show_sourcelink = False  # Remove 'view source code' from top of page (for html, not python)
autodoc_inherit_docstrings = True  # If no docstring, inherit from base class
set_type_checking_flag = True  # Enable 'expensive' imports for sphinx_autodoc_typehints
add_module_names = False

# Add any paths that contain templates here, relative to this directory.
templates_path = ["_templates"]

# The suffix(es) of source filenames.
# You can specify multiple suffix as a list of string:
# source_suffix = ['.rst', '.md']
source_suffix = ".rst"

# The encoding of source files.
# source_encoding = 'utf-8-sig'

# The master toctree document.
master_doc = "index"

# General information about the project.
project = "MoveIt Task Constructor"
author = "Michael Görner, Robert Haschke"

# The version info for the project you're documenting, acts as replacement for
# |version| and |release|, also used in various other places throughout the
# built documents.
#
# Read version from package.xml
xml = etree.parse("../package.xml")
version = str(xml.xpath("/package/version/text()")[0])

# The language for content autogenerated by Sphinx. Refer to documentation
# for a list of supported languages.
#
# This is also used if you do content translation via gettext catalogs.
# Usually you set "language" from the command line for these cases.
language = "en"

# There are two options for replacing |today|: either, you set today to some
# non-false value, then it is used:
# today = ''
# Else, today_fmt is used as the format for a strftime call.
# today_fmt = '%B %d, %Y'

# List of patterns, relative to source directory, that match files and
# directories to ignore when looking for source files.
exclude_patterns = [".build", "python/pybind11"]

# The reST default role (used for this markup: `text`) to use for all
# documents.
# default_role = None

# If true, '()' will be appended to :func: etc. cross-reference text.
# add_function_parentheses = True

# If true, the current module name will be prepended to all description
# unit titles (such as .. function::).
# add_module_names = True

# If true, sectionauthor and moduleauthor directives will be shown in the
# output. They are ignored by default.
# show_authors = False

# The name of the Pygments (syntax highlighting) style to use.
# pygments_style = 'monokai'

# A list of ignored prefixes for module index sorting.
# modindex_common_prefix = []

# If true, keep warnings as "system message" paragraphs in the built documents.
# keep_warnings = False

# If true, `todo` and `todoList` produce output, else they produce nothing.
todo_include_todos = False


# -- Options for HTML output ----------------------------------------------

# The theme to use for HTML and HTML Help pages.  See the documentation for
# a list of builtin themes.
html_theme = "furo"

# Theme options are theme-specific and customize the look and feel of a theme
# further.  For a list of options available for each theme, see the
# documentation.
# html_theme_options = {}

# Add any paths that contain custom themes here, relative to this directory.
# html_theme_path = []

# The name for this set of Sphinx documents.  If None, it defaults to
# "<project> v<release> documentation".
# html_title = None

# A shorter title for the navigation bar.  Default is the same as html_title.
# html_short_title = None

# The name of an image file (relative to this directory) to place at the top
# of the sidebar.
# html_logo = None

# The name of an image file (within the static path) to use as favicon of the
# docs.  This file should be a Windows icon file (.ico) being 16x16 or 32x32
# pixels large.
# html_favicon = None

# Add any paths that contain custom static files (such as style sheets) here,
# relative to this directory. They are copied after the builtin static files,
# so a file named "default.css" will overwrite the builtin "default.css".
html_static_path = ["_cpp"]

# Add any extra paths that contain custom files (such as robots.txt or
# .htaccess) here, relative to this directory. These files are copied
# directly to the root of the documentation.
# html_extra_path = []

# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
# using the given strftime format.
# html_last_updated_fmt = '%b %d, %Y'

# If true, SmartyPants will be used to convert quotes and dashes to
# typographically correct entities.
# html_use_smartypants = True

# Custom sidebar templates, maps document names to template names.
# html_sidebars = {}

# Additional templates that should be rendered to pages, maps page names to
# template names.
# html_additional_pages = {}

# If false, no module index is generated.
# html_domain_indices = True

# If false, no index is generated.
# html_use_index = True

# If true, the index is split into individual pages for each letter.
# html_split_index = False

# If true, links to the reST sources are added to the pages.
# html_show_sourcelink = True

# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
# html_show_sphinx = True

# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
# html_show_copyright = True

# If true, an OpenSearch description file will be output, and all pages will
# contain a <link> tag referring to it.  The value of this option must be the
# base URL from which the finished HTML is served.
# html_use_opensearch = ''

# This is the file name suffix for HTML files (e.g. ".xhtml").
# html_file_suffix = None

# Language to be used for generating the HTML full-text search index.
# Sphinx supports the following languages:
# html_search_language = 'en'

# A dictionary with options for the search language support, empty by default.
# Now only 'ja' uses this config value
# html_search_options = {'type': 'default'}

# The name of a javascript file (relative to the configuration directory) that
# implements a search results scorer. If empty, the default will be used.
# html_search_scorer = 'scorer.js'

# Output file base name for HTML help builder.
htmlhelp_basename = "mtcdoc"

# Example configuration for intersphinx: refer to the Python standard library.
intersphinx_mapping = {"python": ("https://docs.python.org/3", None)}

ros_distro = "noetic"
ros_docs = f"http://docs.ros.org/{ros_distro}/api"
extlinks = {
    "rosdocs": (f"{ros_docs}/%s", "%s"),
    "msgs": (f"{ros_docs}/moveit_task_constructor/html/msg/%s.html", "%s"),
    "moveit_msgs": (f"{ros_docs}/moveit_msgs/html/msg/%s.html", "%s"),
    "geometry_msgs": (f"{ros_docs}/geometry_msgs/html/msg/%s.html", "%s"),
    "visualization_msgs": (f"{ros_docs}/visualization_msgs/html/msg/%s.html", "%s"),
}


def generate_doxygen_xml(app):
    build_dir = os.path.join(app.confdir, ".build")
    if not os.path.exists(build_dir):
        os.mkdir(build_dir)

    print("Running doxygen")
    try:
        subprocess.call(["doxygen", "--version"])
        retcode = subprocess.call(["doxygen"], cwd=app.confdir)
        if retcode < 0:
            sys.stderr.write(f"doxygen error code: {-retcode}\n")
    except OSError as e:
        sys.stderr.write(f"doxygen execution failed: {e}\n")


def setup(app):
    # Add hook for building doxygen xml when needed
    # app.connect("builder-inited", generate_doxygen_xml)
    pass
